水下无人系统学报

Motion Control Simulation of Underwater Gliders in Kuroshio

MA Yuyin, WANG Yanfeng, GUAN Sheng, WANG Na, DING Junhang

2024, 32(1): 1-7. doi: 10.11993/j.issn.2096-3920.2023-0086

[Abstract](1132) [FullText HTML] (93) [PDF 2036KB](74) [Cited by] (1)

Abstract:
In recent years, underwater gliders have been widely used in the observation of various ocean surveys. However, their motion is often seriously affected when observing strong currents such as the Kuroshio. Therefore, the motion control of underwater gliders in the Kuroshio was studied in this paper....

Lightweight Modeling of Underwater Gliders and Nonlinear MPC Controller Design with Actuator Constraint

WANG Jieru, LI Chong, QI Shengbo, ZHAO Yuanyuan

2024, 32(1): 8-17. doi: 10.11993/j.issn.2096-3920.2023-0042

[Abstract](1156) [FullText HTML] (114) [PDF 2482KB](73)

Abstract:
In response to the problems of high nonlinearity and dimensionality of existing underwater glider models, as well as difficulty in designing effective engineering controllers, the composition and working principle of the motion mechanism of underwater gliders were first studied. By neglecting second...

Real - Time Detection and Communication System for Underwater Acoustic Gliders and Their Offshore Experimental

TIAN Deyan, ZHANG Xiaochuan, ZHANG Wenqing, SUN Qindong, WANG Chao

2024, 32(1): 18-24. doi: 10.11993/j.issn.2096-3920.2023-0020

[Abstract](1018) [FullText HTML] (87) [PDF 2555KB](92) [Cited by] (1)

Abstract:
While performing underwater observation and detection, the underwater acoustic glider needs to finish the current profile glide to float to the surface for information exchange and thus fails to realize real-time data information return. In this paper, a detection and communication system for underw...

Research on Structural Principle and Hydrodynamic Performance of Double-Hull Hybrid Powered Underwater Glider

LIU Jian, ZHOU Guangli, PENG Jiashu, ZHU Meng, LI Guoqing, YU Zuyao

2024, 32(1): 25-31. doi: 10.11993/j.issn.2096-3920.2023-0150

[Abstract](862) [FullText HTML] (38) [PDF 1668KB](47) [Cited by] (2)

Abstract:
Although the hybrid powered underwater glider has the advantages of both typical underwater gliders and traditional vehicles, it also has disadvantages such as high energy consumption and inconvenient recovery. In the rapid propulsion mode, the existence of wings not only increases navigation resist...

Pectoral Fin Structural Design and Experiments on Robotic Cow-Nosed Ray with Backward Swimming Performance

LI Bo, YU Yingming, CAO Yonghui, HAO Yiwei, PAN Guang, CAO Yong

2024, 32(1): 32-39. doi: 10.11993/j.issn.2096-3920.2023-0157

[Abstract](1162) [FullText HTML] (127) [PDF 2615KB](76) [Cited by] (1)

Abstract:
Robotic fish with pectoral fin swing have many outstanding features, especially forward swimming stability, but the research on their backward swimming performance is insufficient. Therefore, this article specifically discussed the hydrodynamic performance of the robotic cow-nosed ray with backward ...

Dynamic Modeling and Experimental Study of Biomimetic Robotic Manta Ray

CHEN Guojun, LIN Yanglong, JIN Jun, CHEN Wei, YANG Xue

2024, 32(1): 40-47. doi: 10.11993/j.issn.2096-3920.2023-0107

[Abstract](1021) [FullText HTML] (65) [PDF 2111KB](55)

Abstract:
The unique pectoral fin swinging propulsion method of biomimetic robotic manta ray is more suitable for long-term underwater operations in wind and wave environments. Relevant research has been conducted both in China and abroad, but there are problems in the current research on biomimetic robotic m...

Method for Maximum Power Control of Direct-drive Wave Power Device Based on Fuzzy Sliding Mode Control

FAN Xinyu, MENG Hao

2024, 32(1): 48-56. doi: 10.11993/j.issn.2096-3920.2023-0114

[Abstract](763) [FullText HTML] (160) [PDF 2856KB](38) [Cited by] (2)

Abstract:
Marine wave energy is a new type of clean energy. In order to improve the generation power and wave energy conversion efficiency of the direct-drive wave power generation system, a maximum power control method based on fuzzy sliding mode control was proposed. The method aimed at solving the problems...

An Improved MFAC Energy Saving Control Method for USVs in Wave Environments

WEI Jiaguang, ZHANG Tuosheng, XIN Yunwei, LI Huailiang, ZHANG Xiwei

2024, 32(1): 57-65. doi: 10.11993/j.issn.2096-3920.2023-0040

[Abstract](848) [FullText HTML] (66) [PDF 2259KB](41)

Abstract:
Unmanned surface vessels(USVs) are subjected to environmental disturbance in the process of movement. In particular, after being disturbed by waves, its motion control will deviate from the expected path, resulting in a waste of energy. In response to the problem of weak adaptability of fixed parame...

Calculation Method of True Wind of Unmanned Sailboat Based on Data Fusion

HE Chenglong, CHI Shukai, YUWEN Guopu, HU Xinyao, WEI Pengfei, LI Ming

2024, 32(1): 66-78. doi: 10.11993/j.issn.2096-3920.2023-0017

[Abstract](1057) [FullText HTML] (148) [PDF 2369KB](51)

Abstract:
Since the unmanned sailboat is difficult to obtain the true wind, and the wind sensor used is affected by the attitude of the sailboat, a calculation method of the true wind of the unmanned sailboat based on the fusion of attitude information, relative wind, and sailing wind was proposed. Firstly, t...

Research on Game Confrontation of Unmanned Surface Vehicles Swarm Based on Multi-Agent Deep Reinforcement Learning

YU Changdong, LIU Xinyang, CHEN Cong, LIU Dianyong, LIANG Xiao

2024, 32(1): 79-86. doi: 10.11993/j.issn.2096-3920.2023-0159

[Abstract](1705) [FullText HTML] (339) [PDF 2328KB](286) [Cited by] (12)

Abstract:
Based on the background of future modern maritime combats, a multi-agent deep reinforcement learning scheme was proposed to complete the cooperative round-up task in the swarm game confrontation of unmanned surface vehicles (USVs). First, based on different combat modes and application scenarios, a ...

Comparison of Partial Admission Axial and Radial Inflow Turbines for Underwater S-CO₂ Power Cycle System

WANG Hanwei, JIANG Xiaopeng, LUO Kai, ZHANG Jianan, DANG Jianjun, QIN Kan

2024, 32(1): 87-96. doi: 10.11993/j.issn.2096-3920.2023-0037

[Abstract](160) [FullText HTML] (73) [PDF 3104KB](34) [Cited by] (2)

Abstract:
The reasonable application of supercritical carbon dioxide(S-CO₂) power cycle systems to unmanned undersea vehicles(UUVs) can help address the problem of low efficiency for the existing UUV steam power cycle systems, especially for small-power applications. In order to select the optimal turbine for...

Identity Authentication Method Based on Voiceprint Features of Communication Payloads

CHEN Lu, ZHAO Dexin, WANG Jun, GAO Hong, CHEN Yingliang

2024, 32(1): 97-104. doi: 10.11993/j.issn.2096-3920.2023-0027

[Abstract](232) [FullText HTML] (135) [PDF 1155KB](60)

Abstract:
The security of underwater acoustic communication networks is an important guarantee for information sharing and cooperative operation of underwater communication. Existing technologies mainly study authentication protocol and data encryption, focusing on improving the security of the network but ig...

Quantitative Analysis of Uncertainty at the End of the Towed Cable in Underwater Towing Systems

CHENG Shunzhao, WANG Jun, LIANG Xiaofeng, WANG Jian

2024, 32(1): 105-113. doi: 10.11993/j.issn.2096-3920.2023-0085

[Abstract](210) [FullText HTML] (105) [PDF 1336KB](39) [Cited by] (1)

Abstract:
In the ever-changing marine environment, the key to the optimal design of the towed cable and the precise control of the towed body in the underwater towing system is the quantification of uncertainty at the end of the towed cable. The Monte Carlo(MC) method, a traditional uncertainty quantification...

Hydrodynamic Performance of Efficiency Transition Point of Forked Caudal Fins

XIONG Zhongying, LIU Yueyao

2024, 32(1): 114-123. doi: 10.11993/j.issn.2096-3920.2023-0066

[Abstract](353) [FullText HTML] (131) [PDF 3028KB](39)

Abstract:
Thunniform fish has high swimming speed and swimming efficiency and thus becomes the ideal biological prototype of bionic robotic fish. In order to study the hydrodynamic characteristics of the efficiency transition point of the forked caudal fins of thunniform fish, the source terms influencing thr...

Implementation and Application of Bellhop Model in Underwater Acoustic Network Simulation

LIU Qipei, LIU Kun, LUO Yihao, WU Xinying, ZHOU Heyu

2024, 32(1): 124-129. doi: 10.11993/j.issn.2096-3920.2023-0015

[Abstract](388) [FullText HTML] (495) [PDF 1424KB](85)

Abstract:
With the development of underwater acoustic technology, underwater acoustic networks(UANs) have attracted much attention due to their performance in marine surveillance, disaster warning, and ocean security. The underwater acoustic channel is a crucial factor affecting the performance of UANs, and i...

Design Method for Low Specific Speed Axial Flow Pump for High-Speed Undersea Vehicles

ZHANG Ziruo, LUO Kai, QIN Kan

2024, 32(1): 130-138. doi: 10.11993/j.issn.2096-3920.2023-0036

[Abstract](238) [FullText HTML] (86) [PDF 1988KB](33) [Cited by] (2)

Abstract:
For the axial flow pumps water-jet propulsion system of undersea vehicles, the high specific speed axial flow pump designed by the lift method fails to work under shallow water and high-speed conditions at present. Therefore, this study put forward a method to design a low specific speed axial flow ...

Influence of Amplitude-phase Error on MVDR Beamforming of Volume Array

HUANG Yan, JIAO Junsheng, GUO Shixu, ZHAO Peng

2024, 32(1): 139-146. doi: 10.11993/j.issn.2096-3920.2023-0077

[Abstract](234) [FullText HTML] (107) [PDF 1520KB](26)

Abstract:
Volume array is a kind of three-dimensional array composed of multiple hydrophones, which can increase the aperture of the receiving array of the submarine target and obtain a large spatial gain. In engineering, it is often made into an array with the function of folding and expanding for dropping s...

Simulation Analysis of Variable Cross-section Linetype Optimization for Swim-out Tube in UUVs

ZHOU Jie, MA Liang, HENG Hui

2024, 32(1): 147-151. doi: 10.11993/j.issn.2096-3920.2023-0089

[Abstract](186) [FullText HTML] (50) [PDF 1117KB](22)

Abstract:
In order to design the swim-out launcher unit for unmanned undersea vehicle(UUV), based on the thrust model and force model of swim-out launch process for electric torpedoes, the paper analyzes the thrust, fluid resistance, course resistance, and local resistance suffered by the torpedo during its s...

Analysis of Multi-Body Separation Characteristics of Trans-Medium Vehicles

WANG Shuai, DONG Meng, WANG Sheng

2024, 32(1): 152-157. doi: 10.11993/j.issn.2096-3920.2023-0022

[Abstract](207) [FullText HTML] (46) [PDF 1745KB](41)

Abstract:
This paper studied the underwater separation characteristics of pods of trans-medium vehicles by numerical simulations of computational fluid dynamics and dynamics model simulations and analyzed the hydrodynamic forces exerted on the pods before and after separation. The analysis results show that 1...

Numerical Simulation Accuracy Study of Underwater Explosion Shock Waves

AO Qiyuan, LU Xi, JIANG Zhiya, KANG Poge

2024, 32(1): 158-165. doi: 10.11993/j.issn.2096-3920.2023-0098

[Abstract](360) [FullText HTML] (145) [PDF 1606KB](30) [Cited by] (4)

Abstract:
In the numerical simulation study of the underwater explosion, the grid size and the artificial viscosity coefficient of the primary term have a large impact on the calculation results of the peak pressure of the shock wave. Under the condition of predetermined calculation accuracy, it is of great s...

Application of Reliability Simulation in Torpedo Products

WANG Douhui, CHEN Huan, GUO Jun, WU Bin

2024, 32(1): 166-173. doi: 10.11993/j.issn.2096-3920.2023-0030

[Abstract](150) [FullText HTML] (59) [PDF 15347KB](43)

Abstract:
The traditional reliability test is time-consuming and requires high cost. Therefore, this article provided the basic content and workflow of reliability simulation and conducted reliability simulation modeling, thermal stress simulation analysis, vibration stress simulation analysis, fault predicti...

Application Status and Development Trend of Battery for Deep Submergence Rescue Vehicles

HE Weiwei, ZHANG Wei, XIE Fei, MA Ling, CHENG Fei

2024, 32(1): 174-182. doi: 10.11993/j.issn.2096-3920.2023-0052

[Abstract](379) [FullText HTML] (118) [PDF 8688KB](63) [Cited by] (1)

Abstract:
Submarines have extremely strong operational capability and deterrence and play an irreplaceable role in war, which have been highly valued by all countries. However, the operational characteristics of submarines also reflect that once an accident occurs, rescue will be difficult. Among various type...

2024 Vol. 32, No. 1

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